Method for seizing an object

ABSTRACT

A method for gripping an object by another gripping object comprises the steps of: detaching a part of an object to be gripped while maintaining a mechanical link; retaining the detachable part at a distance “a” from the object to be gripped by a part of the gripping object by spatial movement of the latter. At least a certain time period before the moment of engagement, there is the step of stabilizing an angle position of the detachable part relative to the object to be gripped by rotating said part to provide it with own angular momentum directed at an angle “ε” to the object to be gripped. A reactive force F and/or an aerodynamic force R are (is) used as the retaining force. At the same time, the aerodynamic force R is generated by rotation of the detachable part. The rotating detachable part is oriented relative to the object to be gripped by generating an orienting aerodynamic force P on said part, said orienting aerodynamic force being directed at an angle to the object to be gripped.

The invention relates to means for gripping objects in operations ofrescuing the same.

Known from the technical literature is a method for gripping an objectby another gripping object, comprising the steps of: detaching a part ofan object to be gripped while maintaining a mechanical link; retainingthe detachable part at a distance from the object to be gripped; andmechanically engaging the detachable part of the object to be gripped bya part of the gripping object by its spatial movement; the detachmentstep being executed before a moment of engagement, and the retainingstep being executed up to the moment of engagement by generating aretaining force on the detachable part, said force being directed at anangle to the object to be gripped (“Perspektivy Razvitia SistemPodkhvata Kosmicheskikh Apparatov v Vozdukhe” (Prospects Of Evolution OfSystems For Catching Up Spacecrafts in Air). Technical translation No756. “AJAA Paper”, No 68-1163. “Voyennaya Aviatsia i Raketnaya Tekhnika”(Military Aviation and Rocket Engineering), issue 8, 1970, pp. 15-21.“Flug-Revue”, 1964, No 1, p. 40).

Disadvantages of said prior art method for gripping an object are itslow reliability and safety, and also an insignificant range ofapplication.

The technical problem to be solved by the invention is to improvereliability and safety of a process for gripping objects, to broaden arange of application and an arsenal of technical means.

The present problem is solved as follows: in a method for gripping anobject by another gripping object, said method comprising the steps of:detaching at least one part of an object to be gripped while maintaininga mechanical link; retaining the detachable part at a distance from theobject to be gripped; and mechanically engaging the at least onedetachable part of the object to be gripped by at least one part of atleast one gripping object by the spatial movement of at least a part ofthe latter; the detachment step being executed at least a certain timeperiod before a moment of engagement, and the retaining step beingexecuted at least up to the moment of engagement by generating at leastone retaining force on the at least one detachable part, said forcebeing directed at an angle to the object to be gripped, ACCORDING TO THEINVENTION, at least a certain time period before the moment ofengagement, there is the step of at least partial stabilizing an angleposition of the at least one detachable part relative to the object tobe gripped by rotating said part to provide it with own angular momentumdirected at an angle to the object to be gripped.

Further, according to the invention, at least one detachable part isrotated before the moment of its detachment from the object to begripped. At least one detachable part is rotated after its detachmentfrom the object to be gripped. At least a portion of the retainingaerodynamic force is generated by rotating at least one detachable partrelative to the axis positioned at an angle to the object to be gripped.At least one detachable part is rotated using the thermal energy ofcombusted fuel. At least one detachable part is rotated using theelectromagnetic energy. At least one detachable part is rotated usingthe mechanical energy. At least one detachable part is rotated using theaerodynamic energy. At least a portion of the retaining force isgenerated by applying a reactive force to at least one detachable partof the object to be gripped, said reactive force being directed at anangle to the object to be gripped. At least a portion of the retainingforce is generated by applying an aerostatic force to at least onedetachable part of the object to be gripped, said aerostatic force beingdirected at an angle to the object to be gripped. At least one rotatingdetachable part of the object to be gripped is at least partiallyoriented relative to the object to be gripped. At least one rotatingdetachable part of the object to be gripped is oriented at least acertain time period before a moment when said part starts to rotate. Atleast one rotating detachable part of the object to be gripped isoriented in process of rotation of said part. At least a partialorientation is carried out by generating at least one orienting force onat least one rotating detachable part of the object to be gripped, saidorienting force being directed at an angle to the object to be gripped.At least one orienting force is reduced in process of rotation of therotating detachable part of the object to be gripped. At least a portionof the orienting force is generated by applying an aerodynamic force toat least one rotating detachable part of the object to be gripped, saidaerodynamic force being directed at an angle to the object to begripped. At least a portion of the orienting force is generated byapplying an aerostatic force to at least one rotating detachable part ofthe object to be gripped, said aerostatic force being directed at anangle to the object to be gripped. At least a partial orientation of atleast one rotating detachable part of the object to be gripped iscarried out before a moment of its detachment. At least a partialorientation of at least one rotating detachable part of the object to begripped is carried out after its detachment.

An angular velocity of rotation of the rotating part of the object to begripped is reduced at least after mechanical engagement of at least onedetachable part of the object to be gripped by at least one part of atleast one gripping object.

The invention will now be described in greater detail with reference tothe accompanying drawings, where FIGS. 1-3 show embodiments of agripping device, and examples of realization of the claimed method forgripping various objects by various gripping objects. FIGS. 4-9 showembodiments of some members of the claimed gripping device.

FIG. 1 shows an object 1 to be gripped and being in the form ofparachuting cargo and shows a gripping object 2 as an aircraft;

FIG. 2 shows an object 1 to be gripped as an autorotation helicopter andshows a gripping object 2 as a rescue helicopter;

FIG. 3 shows an object 1 to be gripped as a cargo lying on a surface andshows a gripping object 2 as a helicopter;

FIGS. 4-9 show different structural embodiments of a rotating detachablepart of the object 1 to be gripped, which object is implemented as arotor 3.

The claimed method for gripping is realized as follows.

It is possible to grip the object 1 moving at a speed W, for example inthe form of cargo parachuting in atmosphere, by the gripping object 2,for example by aircraft (see FIG. 1).

It is possible is to grip the object 1 moving at speed W, for example inthe form of a autorotation helicopter descending in atmosphere, by thegripping object 2, for example by a rescue helicopter (see FIG. 2).

It is possible to grip the stationary object 1 (W=0), for example in theform of cargo lying on a surface, by the gripping object 2, for exampleby a helicopter (see FIG. 3).

It is possible to detach, for example, 2 portions implemented, forexample, in the form of a rotor 3 and a parachute 4 (see FIG. 1) fromthe object 1 to be gripped while retaining the mechanical link with theobject to be gripped.

It is possible to detach, for example, 1 portion implemented, forexample, as a rotor 3 (see FIG. 2) from object 1 to be gripped whileretaining the mechanical link with the object to be gripped.

It is possible to detach, for example, 2 portions implemented, forexample, as a rotor 3 and an aerostat 5 (see FIG. 3) from object 1 to begripped while retaining the mechanical link with the object to begripped.

The mechanical link of the rotor 3 with the object 1 to be gripped canbe implemented, for example, as a rope 6 whose one end is secured on theobject 1 to be gripped, and the other end is secured on the rotor 3 (seeFIGS. 1, 3).

The mechanical link of the parachute 4 via the rotor 3 with the object 1to be gripped can be implemented, for example, as a rope 7 whose one endis secured on the rotor 3 and the other end is secured on the parachute4 (see FIG. 1).

The mechanical link of the rotor 3 with the object 1 to be gripped canbe implemented, for example, as a telescopic bar 8 whose one end ispivotally secured on the object 1 to be gripped and the other end issecured on the rotor 3 (see FIG. 2).

The mechanical link of the aerostat 5 via the rotor 3 with the object 1to be gripped can be implemented, for example, as a rope 9, whose oneend is secured on the rotor 3 and the other end is secured on theaerostat 5 (see FIG. 3).

After the portions implemented, for example, as the rotor 3, theparachute 4, and the aerostat 5 have been detached from the objects 1 tobe gripped, said portions are retained at a distance from the objects 1to be gripped (see FIGS. 1-3).

Possible is, for example, a partial retention of the rotor 3 at distance“a” from the object 1 to be gripped by generating a retaining force ofresiliency, T, which force is directed at angle “χ”, for example, to alongitudinal axis “x” of the object 1 to be gripped, owing to selectionof rigidity characteristics of the mechanical links, that is, the rope 6and members for securing the same (see FIGS. 1, 3).

Possible is, for example, a partial retention of the parachute 4 at adistance “B” from the object 1 to be gripped by generating a retentionforce of resiliency, S, which force is directed at angle <<φ>>, forexample, to the longitudinal axis “x” of the object 1 to be gripped,owing to selection of rigidity characteristics of the mechanical links,that is, ropes 6, 7 and members for securing the same (see FIG. 1).

Possible is, for example, retention of the rotor 3 at distance “a” fromthe object 1 to be gripped by generating a retention force ofresiliency, Q, which force is directed at angle “δ”, for example, to thelongitudinal axis “x” of the object 1 to be gripped, owing to selectionof rigidity characteristics of the mechanical link, that is, a bar 8 andmembers for securing the same (see FIG. 2).

Possible is, for example, a partial retention of the aerostat 5 at adistance “c” from the object 1 to be gripped by generating a retentionforce of resiliency, U, which force is directed at angle “μ“, forexample, to the longitudinal axis “x” of the object 1 to be gripped, forexample, owing to selection of rigidity characteristics of themechanical links, that is, ropes 6, 9 and members for securing the same(see FIG. 3).

Possible is, for example, retention of the rotor 3 and the parachute 4at distances “a” and “B” from the object 1 to be gripped by generating aretaining aerodynamic force P on the parachute 4, said retainingaerodynamic force being directed at angle φ”, for example, to thelongitudinal axis “x” of the object 1 to be gripped, for example, owingto the air flow that flows at a velocity V_(∞) about the parachute 4(see FIG. 1).

Possible is, for example, a retention of the rotor 3 and the aerostat 5at distances “a” and “c” from the object 1 to be gripped by generating aretaining aerostatic force L on the aerostat 5, said retainingaerostatic force being directed at an angle “σ”, for example, to thelongitudinal axis “x” of the object 1 to be gripped (see FIG. 3).

Possible is, for example, retention of the rotor 3 at a distance “a,”from the object 1 to be gripped by generating a retaining aerodynamicforce R on rotor 3, said retaining aerodynamic force being directed atangle “λ”, for example, to a longitudinal axis “x” of the object 1 to begripped, owing to rotation the of rotor 3 at an angular velocity “Ω”relative to an axis “z” positioned at an angle “ε”, for example, to thelongitudinal axis “x” of the object 1 to be gripped (FIGS. 1, 2, 3),wherein the rotor 3 can be provided, for example, with blades 10 (seeFIGS. 4, 5, 6, 7, 8, 9) mounted at an angle of attack, “β”, to acircumferential velocity vector V of the rotor 3 (see FIG. 4).

Possible is, for example, retention of the rotor 3 at a distance “a”from the object 1 to be gripped by applying a retaining reactive force Fto the rotor 3, said retaining reactive force being directed at angle“θ”, for example, to the longitudinal axis “x” of object 1 to be gripped(see FIGS. 1, 2, 3), wherein the rotor 3 can be provided with rocketengines 11 (see FIG. 5).

Values of the distance “a”, “B” and “c” can be selected, for example,from the safety requirements to be met when the gripping process iscarried out.

Possible is mechanical engagement of a part of the object 1 to begripped, said part being, for example, the parachute 4, by a part of thegripping object 2, said part being, for example, a hook 12, by spatialmovement of the gripping object 2 (see FIG. 1).

Possible is mechanical engagement of a part of the object 1 to begripped, said part being, for example, a hook 14 secured, for example,on the bar 8, by a part of the gripping object 2, said part being, forexample, a loop 13, by spatial movement of the gripping object 2 (seeFIG. 2).

Possible is mechanical engagement of a part of the object 1 to begripped, said part being, for example, a hook 15 secured, for example,on the rope 6, by a part of the gripping object 2, said part being, forexample, a loop 13, by spatial movement of gripping object 2 (see FIG.3).

The detachment of the rotor 3 and the parachute 4 from the object 1 tobe gripped is carried out according to a pre-stored program or by anadditional command a certain time period before the moment when the hook12 engages the parachute 4, and the retention of the rotor 3 and theparachute 4 at the distances “a” and B” from the object 1 to be grippedis carried out at least before the engagement moment (see FIG. 1).

The detachment of the rotor 3 from the object 1 to be gripped is carriedout according to a pre-stored program or by an additional command acertain time period before the moment when the loop 13 engages the hook14, and the retention of the rotor 3 and at the distance “a” from theobject 1 to be gripped is carried out at least before the engagementmoment (see FIG. 2).

The detachment of the rotor 3 and the aerostat 5 from the object 1 to begripped is carried out according to a pre-stored program or by anadditional command a certain time period before the moment when the loop13 engages the hook 15, and the retention of the rotor 3 and theaerostat 5 at the distances “a” and “c” from the object 1 to be grippedis carried out at least before the engagement moment (see FIG. 3).

A command to detach, for example, the rotor 3, the parachute 4, and theaerostat 5 may be issued a certain time period before the engagementmoment from both the object 1 to be gripped and the gripping object 2,for example by a radio signal.

To facilitate the process of engaging the parachute 4 by the hook 12, atleast a certain time period before the engagement moment, it is possibleto stabilize an angular position of the rotor 3 relative to the object 1to be gripped by rotation of the rotor 3 at an angular velocity “Ω”,which rotor has a moment of inertia, I, so that to impart to said rotorits own angular momentum H=I*Ω directed at an angle “ε”, for example, tothe longitudinal axis “x” of the object 1 to be gripped (see FIG. 1). Atthe same time, the parachute 4 is stabilized relative to the object 1 tobe gripped (i.e. a position under action of perturbing factors isretained) owing to:

rigidity of mechanical links of the rotor 3, that is, the ropes 6, 7 andmembers for securing the same on the rotor 3 (see FIG. 1);

stabilization of the retaining forces generated on the rotor 3, forexample, the aerodynamic force R and/or the reactive force F (FIG. 1).

An angular position of the rotor 3 having its own angular momentum H isstabilized (i.e. an angular position under action of perturbing factorsis retained) because of its gyroscopic properties.

To facilitate the engagement of the hook 14 by the loop 13, at least acertain time period before the engagement moment, it is possible tostabilize an angular position of the rotor 3 relative to the object 1 tobe gripped by rotation of the rotor 3 at an angular velocity “Ω”, whichrotor has a moment of inertia, I, so that to impart to said rotor itsown angular momentum H=I*Ω directed at an angle “ε”, for example, to thelongitudinal axis “x” of the object 1 to be gripped (see FIG. 2). At thesame time, the bar 8 and thereby the hook 14 are stabilized relative tothe object 1 to be gripped (i.e. a position under action of perturbingfactors is retained) owing to:

rigidity of mechanical links of the rotor 3, that is, the bar 8 and themember for securing the same on the rotor 3 (see FIG. 2);

stabilization of the retaining forces generated on the rotor 3, forexample of the aerodynamic force R and/or the reactive force F (see FIG.2).

To facilitate the engagement of the hook 15 by the loop 13, at least acertain time period before the engagement moment, it is possible tostabilize an angular position of the rotor 3 relative to the object 1 tobe gripped by rotation of the rotor 3 at an angular velocity “Ω”, whichrotor has a moment of inertia, I, so that to impart to said rotor itsown angular momentum H=I*Ω directed at an angle “ε”, for example, to thelongitudinal axis “x” of the object 1 to be gripped (see FIG. 3). At thesame time, the rope 6 and thereby the hook 15 are stabilized relative tothe object 1 to be gripped (i.e. a position under action of perturbingfactors is retained) owing to:

rigidity mechanical links of the rotor 3, that is, the rope 6 and themember for securing the same on the rotor 3 (see FIG. 3);

stabilization of the retaining forces generated on the rotor 3, forexample of the aerodynamic force R and/or the reactive force F (see FIG.3).

The rotor 3 can be rotated before it is detached from the object 1 to begripped and/or after said detachment.

The rotor 3 can be rotated relative to the axis “z” directed at an angle“ε”, for example, to the longitudinal axis “x” of the object 1 to begripped using a drive that can be positioned on both the rotor 3 and theobject 1 to be gripped (see FIGS. 1, 2, 3), and which drive also can useenergy of different nature for its operation:

mechanical energy;

aerodynamic energy;

electromagnetic energy;

thermal energy;

and others.

The rotor 3 can be rotated both before its detachment from the object 1to be gripped and after said detachment, for example, using the thermalenergy of combusted fuel, wherein the rotor 3 can be provided with anindependent rotary drive including rocket engines 11 (see FIG. 5), aninternal combustion engine 16 (see FIG. 6), a gas-turbine unit 17 (seeFIG. 7), and others.

The rotor 3 can be rotated both before its detachment from the object 1to be gripped and after said detachment, for example, using theelectromagnetic energy, wherein the rotor 3 can be provided with anindependent drive including an electric motor 18 (see FIG. 8), and apower supply source 19 of the electric engine 18 can be positioned onboth the rotor 3 (see FIG. 8) and the object 1 to be gripped, powerbeing supplied via a mechanical link, that is, the rope 6 (see FIGS. 1,3).

The rotor 3 can be rotated both before its detachment from the object 1to be gripped and after said detachment, for example, using the thermalenergy of combusted fuel, wherein the rotor 3 can be provided with anindependent rotating drive, including a gas generator 20 having gasnozzles 21 (see FIG. 9).

The rotor 3 can be rotated before its detachment from the object 1 to begripped, for example by direct using the mechanical rotation energy of apart of the object 1 to be gripped, for example, the energy produced bya helicopter rotor (see FIG. 2).

The rotor 3 can be rotated both before its detachment from the object 1to be gripped and after said detachment, for example, using themechanical rotation energy of the bar 8 being driven, for example by apart of the object 1 to be gripped, for example, a helicopter rotor (seeFIG. 2).

The rotor 3 can be rotated both before its detachment from the object 1to be gripped and after said detachment, for example, using theaerodynamic energy (see FIGS. 1, 2), wherein the rotor 3 can beprovided, for example, with blades 10 positioned at an angle of attack,“α”, relative to the flow V_(∞) that flows about the rotor 3 (see FIG.4).

Possible is rotation of the rotor 3 using the aerodynamic energy bothbefore its detachment from the object 1 to be gripped and afterdetachment in the autorotation mode, i.e. possible is rotation of therotor 3 with generation of the retaining aerodynamic force R thereon,said retaining aerodynamic force being directed at an angle “λ”, forexample, to the longitudinal axis “x” of the object 1 to be gripped (seeFIGS. 1, 2).

To avoid twist of the ropes 6, 7, and 9 when the rotor 3 rotates, theropes can be secured on the rotor 3 by any members allowing a free turnof the rotor 3 relative to the axis “z” (see FIGS. 1, 3).

To reduce the energy consumed to rotate the rotor 3, it would beadvantageous to begin its rotation when the object 1 to be grippedand/or the gripping object 2 reach the motion parameters needed forgripping: an altitude, a speed, an orientation, a relative position, andothers (see FIGS. 1, 2, 3). A command to start the operation of therotor 3 rotation drive can be applied both from the object 1 to begripped (including commands from subsystems of the rotor 3 rotationdrive) and the gripping object 2, for example by a radio signal.

It will be expedient to perform the orientation of the rotor 3 relativeto the object 1 to be gripped a certain time period before the rotor 3starts to rotate and in process of the rotation thereof, for example,prior to transferring at least a portion of an angular velocity Ω” tothe rotor 3, said portion providing a required angular position to theangular momentum vector H (see FIGS. 1, 2, 3).

Possible is, for example, orientation of the rotor 3 before itsdetachment from the object 1 to be gripped by securing said rotor in arequired position on the object 1 to be gripped and with the possibilityof rotation relative to the object 1 of to be gripped (see FIGS. 1, 3).

Possible is, for example, orientation of the rotor 3 before itsdetachment from the object 1 to be gripped by securing said rotor, forexample, in a required position on a part of the object 1 to be gripped,for example, on a helicopter rotor (see FIG. 2).

Possible is, for example, orientation of the rotor 3 both before itsdetachment from the object 1 to be gripped and after said detachment,for example by generating an orienting aerodynamic force P on theparachute 4, said orienting aerodynamic force being generated via therope 7 on the rotor 3 as well and being directed at an angle “φ”, forexample, to the longitudinal axis “x” of object 1 to be gripped, owingto the air flow that flows about the parachute 4 at a speed V_(∞) (seeFIG. 1).

Possible is, for example, orientation of the rotor 3 both before itsdetachment from the object 1 to be gripped and after said detachment,for example by generating an orienting aerostatic force L on theaerostat 5, said orienting aerostatic force being generated via the rope9 on the rotor 3 as well and being directed at an angle “σ”, forexample, to the longitudinal axis “x” of the object 1 to be gripped (seeFIG. 3).

Possible is, for example, orientation of the rotor 3 after itsdetachment from the object 1 to be gripped, for example by generating anorienting force of resiliency, T, on the rotor, said orienting force ofresiliency being directed at an angle “χ”, for example, to thelongitudinal axis “x” of the object 1 to be gripped, by selection ofrigidity of the mechanical link, that is, the rope 6 and the members forsecuring the same (see FIGS. 1, 3).

Possible is, for example, orientation of the rotor 3 after itsdetachment from the object 1 to be gripped, for example by generating anorienting force of resiliency, Q, on the rotor, said orienting force ofresiliency being directed at an angle “δ”, for example, to thelongitudinal axis “x” of the object 1 to be gripped, by selection ofrigidity characteristics of the mechanical link, that is, the bar 8 andthe members for securing the same (see FIG. 2).

After transferring at least a portion of the angular velocity “Ω” to therotor 3, the orienting aerodynamic force P can be eliminated (i.e.reduced to zero), for example by shooting off the parachute 4 with therope 7, and mechanical engagement can be effected, for example by thehook 12 directly with the rotor 3 (see FIG. 1).

After transferring at least a portion of the angular velocity “Ω” to therotor 3, the orienting force of resiliency, Q, can be reduced, forexample by diminishing rigidity of the mechanical link, that is, the bar8 and the members that secure the same (see FIG. 2).

After transferring at least a portion of the angular velocity “Ω” to therotor 3, the orienting aerostatic force L can be eliminated (i.e.reduced to zero), for example by shooting off the aerostat 5 with therope 9 (see FIG. 3).

The command to reduce the orienting force can be issued from both theobject 1 (commands from subsystems of the rotor 3 rotation drive) andthe gripping object 2, for example by a radio signal.

After mechanical engagement of the hooks 14 and 15 by the loop 13 (seeFIGS. 2, 3), the angular velocity “Ω” of rotation of the rotor 3 can bereduced (including reduction to zero), for example by applying a brakingmoment thereto and/or by disengaging the rotation drive. At the sametime, the command to reduce the angular velocity “Ω” of rotation of therotor 3 can be applied, for example, based on the engagement fact fromboth the object 1 to be gripped and the gripping object 2, for exampleby a radio signal.

After mechanical engagement of the hook 15 by the loop 13 (see FIG. 13),the rotor 3 can be disengaged from the object 1 to be gripped bydestruction of the rope 6 on a “rotor 3-hook 15” section (see FIG. 3).For example, when the hook 15 engaged by the loop 13 moves relatively tothe rotor 3 at a horizontal velocity V_(x), the rope 6 inclines on the“rotor 3-hook 15” section, and the tensile force N occurs in the rope(see FIG. 9 a) that in turn results in occurrence of a moment M_(y) thateffects upon the rotor 3, and the rotor having its own angular momentumH precesses at an angular velocity “ω_(x)” (see FIG. 9 b) due to itsgyroscopic properties. When the “rotor 3-hook 15” section of the rope 6is inclined at an angle “π”, a cylindrical knife 22 (schematically shownwith a cut-out) mounted on the rotor 3 cuts the rope 6, therebydetaching the rotor 3 from the object 1 to be gripped (see FIG. 9 b).

After mechanical engagement of the hook 15 by the loop 13 (see FIG. 3),the rotor 3 can be detached from the object 1 to be gripped according toa pre-stored program or by an additional command.

The disclosed method provides the reliable and safe gripping both themoving and stationary objects by various moveable objects, said movingand stationary objects functioning in various environments—liquid (e.g.water), gas (e.g. air), space, and others, in rescue operations,transport of freight, spacecraft mating, and others.

In particular, this method can be successfully used for gripping thespent boosters of launch vehicles to rescue them for the purpose ofreuse.

1. A method for gripping an object, comprising the steps of: detachingat least one part of an object to be gripped while maintaining amechanical link, the detachment step being executed at least a certaintime period before a moment of engagement; retaining the detachable partat a distance from the object to be gripped, the retaining step beingexecuted at least up to the moment of engagement by generating at leastone retaining force on the at least one detachable part, said forcebeing directed and angled to the object to be gripped; mechanicallyengaging the at least one detachable part of the object to be gripped byat least one part of at least one gripping object by the spatialmovement of at least a part of the latter; and at least at a certaintime period before the movement of engagement, at least partiallystabilizing an angled position of the at least one detachable partrelative to the object to be gripped by rotating said part to provide itwith its own angular momentum corrected at an angle to the object to begripped.
 2. The method as claimed in claim 1, wherein at least onedetachable part is rotated before the moment of its detachment from theobject to be gripped.
 3. The method as claimed in as claimed in claim 1,wherein at least one detachable part is rotated after its detachmentfrom the object to be gripped.
 4. The method as claimed in claim 1,wherein at least a portion of the retaining aerodynamic force isgenerated by rotating at least one detachable part relative to the axispositioned at an angle to the object to be gripped.
 5. The method asclaimed in claim 1, wherein at least one detachable part is rotatingusing the thermal energy of combusted fuel.
 6. The method as claimed inclaim 1, wherein at least one detachable part is rotated using theelectromagnetic energy.
 7. The method as claimed in claim 1, wherein atleast one detachable part is rotated using the mechanical energy.
 8. Themethod as claimed in claim 1, wherein at least one detachable part isrotated using the aerodynamic energy.
 9. The method as claimed in claim1, wherein at least a portion of the retaining force is generated byapplying a reactive force to at least one detachable part of the objectto be gripped, said reactive force being directed at an angle to theobject to be gripped.
 10. The method as claimed in claim 1, wherein atleast a portion of the retaining force is generated by applying anaerostatic force to at least one detachable part of the object to begripped, said aerostatic force being directed at an angle to the objectto the gripped.
 11. The method as claimed in claim 1, wherein at leastone rotating detachable part of the object to be gripped is at leastpartially oriented relative to the object to be gripped.
 12. The methodas claimed in claim 11, wherein at least one rotating detachable part ofthe object to be gripped is oriented at least a certain time periodbefore a moment when said part starts to rotate.
 13. The method asclaimed in claim 11, wherein at least one rotating detachable part ofthe object to be gripped is oriented in process of rotation of saidpart.
 14. The method as claimed in claim 11, wherein at least a partialorientation is carried out by generating at least one orienting force onat least one rotating detachable part of the object to be gripped, saidorienting force being directed at an angle to the object to be gripped.15. The method as claimed in claim 14, wherein at least one orientingforce is reduced in process of rotation of the rotating detachable partof the object to be gripped.
 16. The method as claimed in claim 14,wherein at least a portion of the orienting force is generated byapplying an aerodynamic force to at least one rotating detachable partof the object to be gripped, said aerodynamic force being directed at anangle to the object to be gripped.
 17. The method as claimed in claim14, wherein at least a portion of the orienting force is generated byapplying an aerostatic force to at least one rotating detachable part ofthe object to be gripped, said aerostatic force being directed at anangle to the object to be gripped.
 18. The method as claimed in claim11, wherein at least a partial orientation of at least one rotatingdetachable part of the object to be gripped is carried out before amoment of its detachment.
 19. The method as claimed in claim 11, whereinat least a partial orientation of at least one rotating detachable partof the object to be gripped is carried out after its detachment.
 20. Themethod as claimed in claim 1, wherein an angular velocity of rotation ofthe rotating part of the object to be gripped is reduced at least aftermechanical engagement of at least one detachable part of the object tobe gripped by at least one part of at least one gripping object.